Wire stripper operation method and device

Abstract

The present application discloses a method and device for operating a wire stripper, which is applied to the technical field of wire strippers. The method includes: scanning the environment where the target wire is located to obtain environmental point cloud data; detecting the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire; according to the center coordinate parameters and wire radius parameters of the target wire, combined with the reading of the laser displacement sensor set on the wire stripper, controlling the wire stripper to strip or cut the target wire. The present application can accurately detect the position of the wire in an environment with poor visibility, ensure that the wire stripper is accurately aligned with the target wire, and achieve high-precision stripping or cutting.

Description

Technical Field

[0001] The present application relates to the technical field of wire strippers, in particular to a method and device for operating wire strippers. Background Art

[0002] Wire strippers are a common electrical tool, mainly used to strip the outer sheath of wires to expose the internal conductor or perform wire cutting tasks. In daily work and life, wire strippers are widely used because of their convenience. Related technologies usually rely on visual information obtained by cameras or human eyes to determine the positional relationship between the wire strippers and the wires. This method is feasible under normal light conditions, but in harsh environments, such as strong light, smoke or limited vision, it is difficult to ensure the accuracy of the wire strippers to the target wire, which may lead to operational errors. Summary of the invention

[0003] The purpose of this application is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, the purpose of the present application is to provide a method and device for operating a wire stripper, so as to achieve precise operation of the wire stripper.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present application include:

[0006] On the one hand, an embodiment of the present application provides a method for operating a wire stripper, comprising the following steps:

[0007] Scan the environment where the target wire is located to obtain environmental point cloud data;

[0008] Detect the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire;

[0009] According to the center coordinate parameters and the wire radius parameters of the target wire, combined with the reading of the laser displacement sensor arranged on the wire stripper, the wire stripper is controlled to perform wire stripping or wire cutting on the target wire.

[0010] In addition, the wire stripper operating method according to the above embodiment of the present application may also have the following additional technical features:

[0011] Further, in one embodiment of the present application, scanning the environment where the target wire is located to obtain environmental point cloud data includes:

[0012] Scanning the environment where the target wire is located by using a laser radar to obtain initial point cloud data;

[0013] According to the first fixed position where the laser radar is located, the displacement of the blade of the wire stripper relative to the laser radar is obtained as a relative displacement;

[0014] According to the relative displacement and the initial point cloud data, the point cloud data of the pliers blade is obtained as the pliers blade point cloud data;

[0015] The environmental point cloud data is obtained according to the forceps blade point cloud data and the initial point cloud data.

[0016] Further, in one embodiment of the present application, detecting the target wire according to the environmental point cloud data to obtain the center coordinate parameter and wire radius parameter of the target wire includes:

[0017] Converting the environmental point cloud data into a voxel set, wherein the voxel set includes a plurality of initial voxels represented by cubes, each of which is obtained by segmenting a three-dimensional space at a preset resolution;

[0018] The target wire is detected according to the voxel set, and the center coordinate parameters and wire radius parameters of the target wire are obtained and entered into a preset wire list.

[0019] Further, in one embodiment of the present application, detecting the target wire according to the voxel set to obtain the center coordinate parameter and wire radius parameter of the target wire includes:

[0020] Extracting a valid voxel set from the voxel set, the valid voxel set includes a plurality of valid voxels, and the valid voxels are the initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar;

[0021] According to the valid voxel set, valid vertices are obtained, wherein the valid vertices include a first vertex and a second vertex; the first vertex is used to represent a reference point of a first fixed position where the target wire and the laser radar are located, and the second vertex is used to determine a distance between the first fixed position and the target wire;

[0022] According to the first fixed position and the position of the valid vertex, controlling the laser radar to move to a second fixed position;

[0023] Scanning the environment where the target wire is located by using the laser radar at the second fixed position to obtain auxiliary point cloud data;

[0024] According to the position of the effective vertex and the auxiliary point cloud data, in combination with the voxel method, an auxiliary vertex is obtained;

[0025] The center coordinate parameters and the wire radius parameters of the target wire are obtained according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position.

[0026] Further, in one embodiment of the present application, obtaining valid vertices according to the valid voxel set includes:

[0027] Extracting a valid missing voxel set from the valid voxel set; the valid missing voxel set includes a plurality of valid missing voxels, each of which is a valid voxel in the valid voxel set that lacks adjacent voxels in the horizontal direction or the pitch direction;

[0028] Determine a first voxel and a second voxel according to the set of valid missing voxels; the first voxel is the valid missing voxel whose horizontal position is less than a preset horizontal threshold; the second voxel is the valid missing voxel whose horizontal position is greater than or equal to the horizontal threshold; a surface formed by the first voxel and its adjacent voxels and a surface formed by the second voxel and its adjacent voxels are in the same plane;

[0029] The first vertex and the second vertex are obtained according to the first voxel and the second voxel.

[0030] Further, in one embodiment of the present application, obtaining the first vertex and the second vertex according to the first voxel and the second voxel includes:

[0031] In the point cloud of the first voxel, determining a vertex closest to the second voxel as the first vertex;

[0032] In the point cloud of the second voxel, a vertex closest to the first voxel is determined as the second vertex.

[0033] Further, in one embodiment of the present application, obtaining the auxiliary vertex according to the position of the effective vertex and the auxiliary point cloud data in combination with the voxel method includes:

[0034] Extracting, from the auxiliary point cloud data, a point cloud whose horizontal position is greater than or equal to the horizontal position of the first vertex as a valid auxiliary point cloud;

[0035] Performing conversion processing on the effective auxiliary point cloud to obtain an auxiliary voxel set, wherein the auxiliary voxel set includes a plurality of initial auxiliary voxels;

[0036] Along the direction of the ray pointing from the position of the first vertex to the position of the second vertex, from the auxiliary voxel set, search for the initial auxiliary voxel closest to the position of the first vertex as the auxiliary voxel;

[0037] From the point cloud of the auxiliary voxels, a vertex closest to the first vertex is searched as the auxiliary vertex.

[0038] Further, in one embodiment of the present application, obtaining the target wire parameter according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position includes:

[0039] Obtaining a first effective angle according to the position of the first vertex, the position of the second vertex and the first fixed position;

[0040] Obtaining a second effective angle according to the position of the first vertex, the position of the auxiliary vertex and the second fixed position;

[0041] Obtaining a center coordinate parameter and a wire radius parameter of the target wire according to the first fixed position, the second fixed position, the first effective angle, and the second effective angle;

[0042] The wire radius parameter of the target wire satisfies the following formula (1):

[0043] (1);

[0044] In formula (1), is the wire radius parameter of the target wire, is the distance between the second fixed position and the target wire, is the second effective angle;

[0045] Wherein, the distance between the second fixed position and the surface of the target wire satisfies the following formula (2):

[0046] (2);

[0047] In formula (2), is the first effective angle, is the distance between the first fixed position and the second fixed position;

[0048] The center coordinate parameters of the target wire satisfy the following formula (3):

[0049] (3);

[0050] in, is the center coordinate parameter of the target wire, is the distance between the second fixed position and the center of the target wire, is the coordinate position of the second fixed position;

[0051] The distance between the second fixed position and the center of the target wire satisfies the following formula (4):

[0052] (4).

[0053] Further, in one embodiment of the present application, the method of controlling the wire stripper to perform wire stripping or wire cutting on the target wire in accordance with the center coordinate parameter and the wire radius parameter of the target wire in combination with the reading of the laser displacement sensor provided on the wire stripper includes:

[0054] Determining the moving distance and the rotating mode of the wire stripper according to the center coordinate parameters and the wire radius parameters of the target wire;

[0055] According to the moving distance and the rotating mode of the wire stripper, combined with the reading of the laser displacement sensor, the wire stripper is controlled to move to the position of the target wire, so that the target wire is located at the wire cutting position or the wire stripping position of the wire stripper; the reading of the laser displacement sensor is the distance between the blade tip of the wire stripper and the target wire;

[0056] The wire stripper is controlled to strip or cut the target wire.

[0057] On the other hand, an embodiment of the present application provides a wire stripper operating device, including a wire stripper, a laser radar, a laser displacement sensor, and a computing device, wherein:

[0058] The laser displacement sensor is arranged on any one of the handles of the wire stripper, and is used to measure the distance between the blade tip of the handle and the target wire. The laser irradiation line of the laser displacement sensor is parallel to the direction of the blade tip, the horizontal position of the laser irradiation line is greater than the horizontal position of the blade tip, the distance between the laser irradiation line and the blade tip is less than a preset distance threshold, and the measurement range of the laser displacement sensor covers the distance from the handle to the blade tip;

[0059] The laser radar is located in the environment where the target wire is located, and the laser radar is used to scan the environment where the target wire is located to obtain environmental point cloud data;

[0060] The computing device is used to detect the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire;

[0061] The computing device is also used to control the wire stripper to strip or trim the target wire according to the center coordinate parameters and wire radius parameters of the target wire in combination with the reading of the laser displacement sensor provided on the wire stripper.

[0062] The beneficial effects of the present application are: providing a method and device for operating a wire stripper, firstly scanning the environment where the target wire is located to obtain environmental point cloud data; secondly, detecting the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire; finally, according to the center coordinate parameters and wire radius parameters of the target wire, combined with the reading of the laser displacement sensor set on the wire stripper, controlling the wire stripper to strip or cut the target wire. The present application can accurately detect the position of the wire in an environment with poor visibility, ensure that the wire stripper is accurately aligned with the target wire, and achieve high-precision stripping or cutting.

[0063] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a flow chart of a method for operating a wire stripper provided by the present application;

[0065] Figure 2 is a flow chart of determining the environmental point cloud data of the environment where the target wire is located provided by the present application;

[0066] Figure 3 is a flow chart for determining the center coordinate parameters and wire radius parameters of a target wire provided by the present application;

[0067] Figure 4 is a flow chart for detecting a target wire according to a voxel method provided by the present application;

[0068] Figure 5 is a flowchart for determining valid vertices provided by the present application;

[0069] Figure 6 is a flow chart for determining a first vertex and a second vertex provided by the present application;

[0070] Figure 7 is a flow chart for determining auxiliary vertices provided by the present application;

[0071] Figure 8 The present application provides a flowchart for calculating the center coordinate parameters and the radius parameters of the target wire;

[0072] Fig. 9 is a schematic diagram of the geometric model provided by this application;

[0073] Fig.10This is a flow chart of controlling the wire stripper provided by the present application to strip or cut the target wire. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0075] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0076] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0078] In response to the problems and defects existing in the related technologies, the embodiments of the present application provide a method and device for operating wire strippers. By integrating a laser radar and a laser displacement sensor, the position of the wires can be accurately detected in an environment with poor visibility, ensuring that the wire strippers are accurately aimed at the target wires, and achieving high-precision wire stripping or wire cutting. The method and device are suitable for professional electricians to operate in conventional environments, and are particularly suitable for robots or special operators to perform safe and efficient wire stripping or wire cutting tasks in harsh environments. By providing more precise operating guidance, it helps to reduce operating errors caused by limited visibility, reduce the risk of personal injury, improve the safety of operations, and effectively improve the practicality of wire strippers in various environments.

[0079] First, the implementation steps of the wire stripper operating method provided in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0080] The wire stripper operation method proposed in the present application can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms.

[0081] Reference Figure 1 , Figure 1 It is a flow chart of a wire stripper operating method provided in the present application. The wire stripper operating method may include but is not limited to the following steps S101-S103.

[0082] S101, scanning the environment where the target wire is located to obtain environmental point cloud data.

[0083] It should be noted that the target wires may include but are not limited to wires that need to be stripped or cut. Scanning refers to the process of collecting three-dimensional spatial information of the target wires and their surrounding environment. Environmental point cloud data refers to a set of data points containing spatial position information generated after scanning. These data points reflect the surface information of objects in the environment.

[0084] In this step, by scanning the environment where the target wire is located, a set of data points containing the spatial location information of the environment, namely, environmental point cloud data, is obtained.

[0085] S102, detecting the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire.

[0086] It should be noted that the center coordinate parameter of the target wire refers to the center position of the target wire in three-dimensional space, usually expressed by numerical values ​​on the three coordinate axes of X, Y, and Z; the wire radius parameter refers to the radius of the target wire, which is used to determine the thickness of the wire.

[0087] In this step, the environmental point cloud data is processed using a voxel-based method or other algorithm to identify the location of the target wire and the center coordinate parameters and radius parameters of the target wire, so that the wire information can be accurately extracted from the complex point cloud data.

[0088] S103, according to the center coordinate parameters and the wire radius parameters of the target wire, combined with the reading of the laser displacement sensor arranged on the wire stripper, control the wire stripper to strip or cut the target wire.

[0089] It should be noted that the laser displacement sensor is used to measure the distance between the object and the sensor, and can provide real-time feedback on the relative position information between the wire stripper and the target wire; wire stripping refers to the process of using wire strippers to remove the outer insulation of the wire; wire cutting refers to the process of using wire strippers to cut the wire.

[0090] In this step, the wire radius parameter of the target wire can map the specific size of the target wire, and the center coordinate parameter of the target wire can map the specific position of the target wire. According to the specific size and specific position of the target wire, the wire stripper is controlled to adjust to a suitable position, and then the wire stripper is controlled to perform wire stripping or wire cutting.

[0091] In some embodiments of the present application, reference Figure 2 , Figure 2 This is a flowchart of determining the environmental point cloud data of the environment where the target wire is located provided by the present application. In step S101, the environment where the target wire is located is scanned, and the implementation process of obtaining the environmental point cloud data may include but is not limited to the following steps S201-S204.

[0092] S201, using a laser radar to scan the environment where the target wire is located to obtain initial point cloud data.

[0093] In this step, the environment where the target wire is located is scanned by a laser radar that is pre-deployed or deployed in real time, thereby obtaining initial point cloud data. The initial point cloud data reflects the surface information of objects in the environment where the target wire is located.

[0094] S202: According to the first fixed position of the laser radar, the displacement of the blades of the wire stripping pliers relative to the laser radar is obtained as a relative displacement.

[0095] In this step, in order to determine the displacement of the wire stripper blade relative to the laser radar, so as to filter out the point cloud data of the blade, based on the first fixed position of the laser radar, the displacement of the wire stripper blade relative to the laser radar is determined as a relative displacement.

[0096] Optionally, the first fixed position may be set according to actual conditions, and the embodiment of the present application does not specifically limit this.

[0097] S203, obtaining the point cloud data of the pliers blade as the pliers blade point cloud data according to the relative displacement and the initial point cloud data.

[0098] In this step, after obtaining the initial point cloud data and the displacement of the pliers blade of the wire stripper relative to the laser radar, the position of the pliers blade in space is determined through the initial point cloud data and the relative displacement, and then based on the position of the pliers blade in space, the point cloud data of the pliers blade is filtered out from the initial point cloud data as the pliers blade point cloud data. The pliers blade point cloud data can be used to determine the specific position and posture of the wire strippers.

[0099] S204, obtaining environmental point cloud data according to the forceps blade point cloud data and the initial point cloud data.

[0100] In this step, after obtaining the pliers blade point cloud data and the initial point cloud data, the pliers blade point cloud data is deleted from the initial point cloud data to obtain the environmental point cloud data. This can reduce the negative impact of the point cloud part caused by the pliers blade on the subsequent point cloud processing, ensure that the position information of the wire strippers is correctly integrated into the overall environment, and ensure the accuracy of subsequent point cloud processing.

[0101] In some embodiments of the present application, reference Figure 3 , Figure 3 This is a flowchart for determining the center coordinate parameters and wire radius parameters of the target wire provided by the present application. In step S102, the target wire is detected according to the environmental point cloud data, and the implementation process of obtaining the center coordinate parameters and wire radius parameters of the target wire may include but is not limited to the following steps S301-S302.

[0102] S301, converting the environmental point cloud data into a voxel set.

[0103] It should be noted that the voxel set includes a plurality of initial voxels represented by cubes, and each initial voxel is obtained by dividing the three-dimensional space by a preset resolution, wherein the preset resolution refers to the side length of the voxel, which determines the size of the voxel.

[0104] In this step, after the environmental point cloud data is obtained, the environmental point cloud data is converted and processed by the voxel method, aiming to convert the environmental point cloud data into a corresponding voxel set.

[0105] Optionally, the resolution may be set according to actual conditions, and the embodiments of the present application do not specifically limit this.

[0106] For example, the resolution is 1 mm, but not limited thereto.

[0107] S302, detecting the target wire according to the voxel set, obtaining the center coordinate parameters and wire radius parameters of the target wire and entering them into a preset wire list.

[0108] In this step, after obtaining the voxel set, the target wire is detected based on the initial voxels represented by cubes in the voxel set, aiming to determine the center coordinate parameters and wire radius parameters of the target wire, and the center coordinate parameters and wire radius parameters of the target wire are entered into the wire list for storage.

[0109] Optionally, the wire list may be pre-set according to actual conditions, and this embodiment of the present application does not specifically limit this.

[0110] In some embodiments of the present application, reference Figure 4 , Figure 4 This is a flowchart of detecting a target wire according to the voxel method provided by the present application. In step S302, the target wire is detected according to the voxel set, and the implementation process of obtaining the center coordinate parameters and wire radius parameters of the target wire may include but is not limited to the following steps S401-S406.

[0111] S401, extracting a valid voxel set from the voxel set.

[0112] It should be noted that the valid voxel set includes multiple valid voxels, and the valid voxels are initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar.

[0113] In this step, after obtaining the voxel set, multiple valid voxels are extracted from the voxel set. These valid voxels are all initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar. The valid voxel set is constructed by multiple valid voxels.

[0114] S402, obtaining valid vertices according to the valid voxel set.

[0115] It should be noted that the valid vertices include a first vertex and a second vertex. The first vertex is used to represent a reference point of a first fixed position where the target wire and the laser radar are located, and the second vertex is used to determine the distance between the first fixed position and the target wire.

[0116] In this step, each initial voxel in the valid voxel set that is not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar is processed to obtain the first vertex and the second vertex as valid vertices, so as to determine the center coordinate parameters and wire radius parameters of the target wire in subsequent steps.

[0117] S403, controlling the laser radar to move to a second fixed position according to the first fixed position where the laser radar is located and the position of the valid vertex.

[0118] In this step, based on the first fixed position of the laser radar and the position of the effective vertex, the laser radar is controlled to move to the second fixed position to improve the accuracy of the center coordinate parameters and wire radius parameters of the target wire and the positioning accuracy of the target wire.

[0119] Optionally, the second fixed position may be set according to actual conditions, and the embodiment of the present application does not specifically limit this.

[0120] S404, using the laser radar at the second fixed position to scan the environment where the target wire is located to obtain auxiliary point cloud data.

[0121] In this step, when the laser radar is in the second fixed position, the laser radar is controlled to perform a second scan of the environment where the target wire is located to obtain auxiliary point cloud data, which also reflects the surface information of objects in the environment where the target wire is located.

[0122] S405, obtaining auxiliary vertices according to the positions of the effective vertices and the auxiliary point cloud data in combination with the voxel method.

[0123] In this step, in order to facilitate the determination of the center coordinate parameters and wire radius parameters of the target wire and improve the accuracy of the parameters, auxiliary vertices are introduced to achieve the positioning and parameter determination of the target wire. Specifically, the positions of the valid vertices and the auxiliary point cloud data obtained in the previous steps are processed using the voxel method to obtain auxiliary vertices.

[0124] S406, obtaining center coordinate parameters and wire radius parameters of the target wire according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position.

[0125] In this step, based on the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position, the parameters of the target wire are determined to obtain the center coordinate parameters and wire radius parameters of the target wire.

[0126] In some embodiments of the present application, reference Figure 5 , Figure 5 This is a flowchart of determining valid vertices provided by the present application. In step S402, the implementation process of obtaining valid vertices according to the valid voxel set may include but is not limited to the following steps S501-S503.

[0127] S501, extracting a valid missing voxel set from a valid voxel set.

[0128] It should be noted that the valid missing voxel set includes a plurality of valid missing voxels, and each valid missing voxel is a valid voxel in the valid voxel set that lacks adjacent voxels in the horizontal direction or the pitch direction.

[0129] In this step, valid voxels that lack adjacent voxels in the horizontal or pitch direction are screened out from the valid voxel set, and these screened valid voxels constitute the valid missing voxel set. Since the target wire does not reflect the laser signal emitted by the lidar, a corresponding vacant area will be formed in the point cloud, and each valid missing voxel in the valid missing voxel set can just represent the missing part of the target wire in the point cloud.

[0130] S502 : Determine a first voxel and a second voxel according to the valid missing voxel set.

[0131] It should be noted that the first voxel is a valid missing voxel whose horizontal position is less than a preset horizontal threshold. The second voxel is a valid missing voxel whose horizontal position is greater than or equal to the horizontal threshold. The surface formed by the first voxel and its adjacent voxels and the surface formed by the second voxel and its adjacent voxels are in the same plane.

[0132] In this step, two valid missing voxels located on both sides of the wire and having similar characteristics are found from the valid missing voxel set, and the found valid missing voxels are the first voxel and the second voxel. Among them, the surface formed by the first voxel and its adjacent voxels and the surface formed by the second voxel and its adjacent voxels are in the same plane, the first voxel is a valid missing voxel with a lower horizontal position, that is, the horizontal position of the first voxel is less than the horizontal threshold, and the second voxel is a valid missing voxel with a higher horizontal position, that is, the horizontal position of the second voxel is greater than or equal to the horizontal threshold. In this way, it is helpful to determine the center coordinate parameters and wire radius parameters of the target wire in the subsequent steps.

[0133] Optionally, the horizontal threshold may be set according to actual conditions, and the embodiment of the present application does not specifically limit this.

[0134] Optionally, the number of adjacent voxels may be set according to actual conditions, and the embodiment of the present application does not specifically limit this.

[0135] For example, the number of adjacent voxels may be 3, but is not limited thereto.

[0136] S503: Obtain a first vertex and a second vertex according to the first voxel and the second voxel.

[0137] In this step, after two valid missing voxels located on both sides of the wire and having similar features are found, the two valid missing voxels are used to determine the first vertex and the second vertex, ie, the valid vertices.

[0138] In some embodiments of the present application, reference Figure 6 , Figure 6This is a flowchart of determining the first vertex and the second vertex provided by the present application. In step S503, the implementation process of obtaining the first vertex and the second vertex according to the first voxel and the second voxel may include but is not limited to the following steps S601-S602.

[0139] S601 : In the point cloud of the first voxel, determine a vertex closest to the second voxel as a first vertex.

[0140] In this step, after the first voxel is determined, the vertex closest to the second voxel is found from the point cloud of the first voxel, and the found vertex is used as the first vertex.

[0141] S602 : In the point cloud of the second voxel, determine a vertex closest to the first voxel as a second vertex.

[0142] In this step, after the second voxel is determined, the vertex closest to the first voxel is found from the point cloud of the second voxel, and the found vertex is used as the second vertex.

[0143] In some embodiments of the present application, reference Figure 7 , Figure 7 This is a flowchart for determining auxiliary vertices provided by the present application. In step S405, according to the positions of valid vertices and auxiliary point cloud data, combined with the voxel method, the implementation process of obtaining auxiliary vertices may include but is not limited to the following steps S701-S704.

[0144] S701, extracting effective auxiliary point cloud from the auxiliary point cloud data.

[0145] It should be noted that the valid auxiliary point cloud is a point cloud in the auxiliary point cloud data whose horizontal position is greater than or equal to the horizontal position of the first vertex.

[0146] In this step, auxiliary point cloud data can be obtained by scanning the environment where the target wire is located by the laser radar located at the second fixed position. After the auxiliary point cloud data is obtained, the point cloud in the auxiliary point cloud data whose horizontal position is greater than or equal to the horizontal position of the first vertex is determined as a valid auxiliary point cloud.

[0147] S702, converting the effective auxiliary point cloud to obtain an auxiliary voxel set.

[0148] It should be noted that the auxiliary voxel set includes a plurality of initial auxiliary voxels, and each initial auxiliary voxel is obtained by dividing the three-dimensional space at a preset resolution.

[0149] In this step, the effective auxiliary point cloud is converted by the voxel method, aiming to convert the effective auxiliary point cloud into a plurality of initial auxiliary voxels, and the auxiliary voxel set is formed by the plurality of initial auxiliary voxels.

[0150] S703 : along the direction of the ray pointing from the position of the first vertex to the position of the second vertex, search for an initial auxiliary voxel closest to the position of the first vertex from the auxiliary voxel set as an auxiliary voxel.

[0151] In this step, taking the ray pointing from the position of the first vertex to the position of the second vertex as the direction, the initial auxiliary voxel closest to the position of the first vertex in the direction is searched from the auxiliary voxel set, and the found initial auxiliary voxel is used as the auxiliary voxel.

[0152] S704 , searching the point cloud of the auxiliary voxels for a vertex closest to the first vertex as an auxiliary vertex.

[0153] In this step, after the auxiliary voxel is obtained, the vertex closest to the first vertex in the point cloud of the auxiliary voxel is determined as the auxiliary vertex.

[0154] In some embodiments of the present application, reference Figure 8 , Figure 8 The present application provides a flowchart for calculating the center coordinate parameters and the wire radius parameters of the target wire. In step S406, the implementation process of obtaining the center coordinate parameters and the wire radius parameters of the target wire according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position, and the second fixed position may include but is not limited to the following steps S801-S803:

[0155] S801, obtaining a first effective angle according to a position of the first vertex, a position of the second vertex and a first fixed position;

[0156] S802, obtaining a second effective angle according to the position of the first vertex, the position of the auxiliary vertex, and the second fixed position;

[0157] S803, obtaining center coordinate parameters and wire radius parameters of the target wire according to the first fixed position, the second fixed position, the first effective angle, and the second effective angle.

[0158] In the above steps, refer to Fig. 9 , Fig. 9 The geometric model of the wire is shown, according to the position of the first vertex , the position of the second vertex and the first fixed position , the line segment With line segment The formed angle is set as the first effective angle ; According to the position of the first vertex , the position of the auxiliary vertex and the second fixed position , the line segment With line segment The formed angle is set as the second effective angle ; According to the first fixed position and the second fixed position The distance between them is used to obtain the moving distance of the laser radar. , then:

[0159] Second fixed position The distance between the surface of the target wire Satisfies the following formula (5):

[0160] (5);

[0161] Second fixed position The distance from the center point C of the target wire The following formula (6) is satisfied:

[0162] (6);

[0163] Furthermore, the radius parameter of the target wire The following formula (7) is satisfied:

[0164] (7);

[0165] Furthermore, the center coordinates of the target wire The parameters satisfy the following formula (8):

[0166] (8);

[0167] If the direction of the laser radar pointing to the center of the target wire is the X-axis direction, the Z-axis is set as the height axis, and the X-axis, Z-axis and Y-axis together constitute a left-hand coordinate system. The coordinates are defined as .

[0168] In some embodiments of the present application, reference Fig.10 , Fig.10 This is a flowchart of controlling a wire stripper to perform stripping or cutting processing on a target wire provided by the present application. In step S103, based on the center coordinate parameters and the wire radius parameters of the target wire, combined with the reading of a laser displacement sensor provided on the wire stripper, the implementation process of controlling the wire stripper to perform stripping or cutting processing on the target wire may include but is not limited to the following steps S901-S903.

[0169] S901, determining a moving distance and a rotating mode of the wire stripper according to a center coordinate parameter and a radius parameter of the target wire;

[0170] In this step, the calculation device uses the center coordinate parameters of the target wire and the tip position of the wire stripper to calculate the required movement distance and rotation mode of the wire stripper. This involves the displacement calculation between two points in space, that is, the displacement vector from the current position of the wire stripper to the center position of the target wire.

[0171] Optionally, the rotation mode of the wire stripper may refer to a rotation angle of the wire stripper, but is not limited thereto.

[0172] S902, according to the moving distance and rotation mode of the wire stripper, combined with the reading of the laser displacement sensor, control the wire stripper to move to the position of the target wire, so that the target wire is located at the cutting position or stripping position of the wire stripper; the reading of the laser displacement sensor is the distance between the blade tip of the wire stripper and the target wire.

[0173] In this step, while controlling the movement of the wire stripper, the laser radar continuously scans the environment to ensure that the point cloud data portion caused by the target wire is close to and in contact with the point cloud data portion caused by the wire stripper blade. This step ensures that the wire stripper can accurately locate the target wire, and the distance reading generated by the laser displacement sensor is further verified to verify whether the distance between the wire stripper blade tip and the target wire meets the requirements.

[0174] S903, controlling the wire stripper to strip or cut the target wire.

[0175] It should be noted that if the task is wire cutting, the target wire will be adjusted to the wire stripping position of the wire stripper, and then the wire stripper is controlled to close its blade to complete the wire cutting operation. If the task is wire stripping, the wire stripper is controlled to adjust to the appropriate wire stripping position according to the wire radius parameter of the target wire, and then the wire stripper is controlled to close its blade to remove the insulation layer of the wire.

[0176] In this step, when performing the wire cutting task, the wire stripper is controlled to move slowly until the reading of the laser displacement sensor indicates that the target wire is exactly at the wire cutting position on the wire stripper blade, that is, the sharp part of the blade. This reading can be determined in advance through a calibration process to ensure that the reading corresponds to the position of the wire stripper blade tip. Once the correct wire cutting position is reached, the wire cutting operation can be performed.

[0177] When performing a wire stripping task, first calculate the wire diameter parameter of the target wire based on the reading of the laser displacement sensor and the point cloud data of the laser radar, or directly obtain the wire radius parameter of the target wire obtained in the previous step. Then, control the wire stripper to move slowly until the reading of the laser displacement sensor indicates that the target wire is exactly at the most suitable stripping position on the wire stripper blade. This reading can also be determined in advance through a calibration process to ensure that the reading corresponds to the position of the wire stripper blade tip. Once the correct stripping position is reached, the wire stripping operation can be performed.

[0178] In summary, the embodiment of the present application provides a method for operating a wire stripper, firstly, the environment in which the target wire is located is scanned to obtain environmental point cloud data; secondly, the target wire is detected according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire; finally, according to the center coordinate parameters and wire radius parameters of the target wire, combined with the reading of the laser displacement sensor set on the wire stripper, the wire stripper is controlled to perform wire stripping or wire cutting on the target wire. By integrating a laser radar and a laser displacement sensor, the present application can accurately detect the position of the wire in an environment with poor visibility, ensure that the wire stripper is accurately aligned with the target wire, and achieve high-precision wire stripping or wire cutting.

[0179] Secondly, an implementation of a wire stripper operating device proposed in an embodiment of the present application will be described in detail below.

[0180] The wire stripper operating device provided in the embodiment of the present application mainly includes a wire stripper, a laser radar, a laser displacement sensor and a computing device, specifically:

[0181] The laser displacement sensor is arranged on any one handle of the wire stripping pliers and fixed by a tool such as a steel clamp, and the laser displacement sensor is used to measure the distance between the blade tip of the handle and the target wire.

[0182] Optionally, the laser irradiation line of the laser displacement sensor is parallel to the direction of the blade tip of the handle, the horizontal position of the laser irradiation line is greater than the horizontal position of the blade tip, and the distance between the laser irradiation line and the blade tip of the handle is less than a preset distance threshold, and the preset distance threshold is a minimum value, which means that the laser irradiation line is slightly higher than the blade of the handle.

[0183] Alternatively, the measurement range of the laser displacement sensor covers the distance from the handle to the blade tip, which means that any target wire that contacts the blade of the handle can be illuminated by the laser illumination line, thereby generating a distance reading.

[0184] The laser radar is located in the environment where the target wire is located. The laser radar is used to scan the environment where the target wire is located to obtain environmental point cloud data.

[0185] It should be noted that the arrangement direction and angle of the LiDAR must ensure that the blade of the wire stripper and objects farther away, such as wires and debris, can be scanned.

[0186] Optionally, the position of the laser radar can be set according to actual conditions, and the embodiments of the present application do not specifically limit this.

[0187] In one arrangement, if the laser displacement sensor is located on the left handle of the wire stripper, the laser radar can be located on the right side of the wire stripper.

[0188] In another arrangement, if the distance between the laser radar and the wire stripper is higher than the minimum effective measurement distance of the laser radar, the laser radar can be arranged at a distance away from the wire stripper.

[0189] In yet another arrangement, if the minimum value of the effective measurement distance of the laser radar is lower than the distance between a certain position of any handle of the wire stripping pliers and the tip of the handle, the laser radar can be fixed at that position.

[0190] Alternatively, to achieve better results, in the application, it is necessary to ensure that there are no foreign objects blocking the laser signal near the laser radar, laser displacement sensor and the blade of the wire stripper.

[0191] The computing device is used to detect the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire; and, according to the center coordinate parameters and wire radius parameters of the target wire, combined with the reading of the laser displacement sensor arranged on the wire stripper, control the wire stripper to strip or cut the target wire.

[0192] Optionally, the computing device exchanges data with the laser radar and laser displacement sensor via wireless communication or wired communication.

[0193] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0194] To facilitate understanding of the wire stripper operating method and device provided in the embodiment of the present application, the embodiment of the present application will be illustrated by an example below.

[0195] In this example, the wire stripper operating device mainly includes a wire stripper, a laser radar, a laser displacement sensor and a computing device.

[0196] The laser displacement sensor is set on any handle of the wire stripper and fixed by a tool such as a steel clamp. The laser displacement sensor is used to measure the distance between the blade tip of the handle and the target wire. The laser irradiation line of the laser displacement sensor is parallel to the direction of the blade tip of the handle, the horizontal position of the laser irradiation line is greater than the horizontal position of the blade tip, and the distance between the laser irradiation line and the blade tip of the handle is less than a preset distance threshold, which is a minimum value, which means that the laser irradiation line is slightly higher than the blade of the handle. The measurement range of the laser displacement sensor covers the distance from the handle to the blade tip, which means that any target wire that touches the blade of the handle can be irradiated by the laser irradiation line, thereby generating a distance reading.

[0197] The laser radar is located in the environment where the target wire is located. The laser radar is used to scan the environment where the target wire is located to obtain environmental point cloud data. The arrangement direction and angle of the laser radar must ensure that the blade of the wire stripper and objects farther away, such as wires and debris, can be scanned. If the laser displacement sensor is located on the left handle of the wire stripper, the laser radar can be located on the right side of the wire stripper. If the distance between the laser radar and the wire stripper is higher than the minimum effective measurement distance of the laser radar, the laser radar can be set at a distance away from the wire stripper. If the minimum effective measurement distance of the laser radar is lower than the distance between a certain position of any handle of the wire stripper and the tip of the handle, the laser radar can be fixed at this position. For better results, in this example, it is necessary to ensure that there are no foreign objects blocking the laser signal near the laser radar, the laser displacement sensor, and the blade of the wire stripper.

[0198] Reference Fig. 9 The specific process of implementing the operation control of the wire stripper in the embodiment of the present application is as follows:

[0199] The first step is to use LiDAR to scan the environment where the target wire is located to obtain the initial point cloud data. At the same time, according to the first fixed position of the laser radar, the displacement of the wire stripper blade relative to the laser radar is obtained as the relative displacement; then, according to the relative displacement and the initial point cloud data, the point cloud data of the wire stripper blade is obtained as the point cloud data of the wire stripper blade, and the point cloud data of the wire stripper blade is obtained according to the initial point cloud data. Delete the pliers blade point cloud data from the , and then get the environment point cloud data .

[0200] The second step is to use computing equipment to calculate the environmental point cloud data. The target wire is detected to obtain the center coordinate parameters and wire radius parameters of the target wire.

[0201] Specifically, the direction of the laser radar pointing to the center of the target wire is the X-axis direction, and the Z-axis is set as the height axis. The X-axis, Z-axis and Y-axis together constitute a left-hand coordinate system. First, the environmental point cloud data is transformed into The voxel set is converted into a voxel set, which includes a plurality of initial voxels represented by cubes, and the side length of each initial voxel is 1 mm.

[0202] Secondly, from the voxel set, the initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar are extracted as valid voxels, and these valid voxels form a valid voxel set. In the valid voxel set, find the valid voxels that lack adjacent voxels in the horizontal direction or pitch direction and mark them as valid missing voxels. , along the effective missing voxels Find another valid missing voxel in the direction of the missing neighboring voxel , so that the effective missing voxels The surface formed by its several neighboring voxels and the effective missing voxel The surface formed by several of its adjacent voxels is in the same plane, where the number of adjacent voxels is 3 or more. and Constitute a set of valid missing voxels.

[0203] Then, in and Of the two valid missing voxels, the valid missing voxel with the lower horizontal position is taken as the first voxel, that is, the horizontal position of the first voxel is less than the horizontal threshold, and the valid missing voxel with the higher horizontal position is taken as the second voxel, that is, the horizontal position of the second voxel is greater than or equal to the horizontal threshold. From the point cloud of the first voxel, find the vertex closest to the second voxel, and take the found vertex as the first vertex , from the point cloud of the second voxel, find the vertex closest to the first voxel, and use the found vertex as the second vertex At this time, the laser radar is at the first fixed position , the line segment With line segment The formed angle is set as the first effective angle .

[0204] Furthermore, it will be in the first fixed position The laser radar moves to the first vertex The laser radar is now in the second fixed position. , the moving distance of the laser radar can be recorded as . Using the second fixed position The laser radar scans the environment where the target wire is located to obtain auxiliary point cloud data From auxiliary point cloud data , extract the horizontal position greater than or equal to the first vertex The point cloud at the horizontal position of is taken as the effective auxiliary point cloud, and the effective auxiliary point cloud is converted by the voxel method to obtain an auxiliary voxel set, which includes multiple initial auxiliary voxels. The position points to the second vertex The ray direction of the position is used to find the closest vertex from the auxiliary voxel set. The initial auxiliary voxel at the position is used as the auxiliary voxel, and the point cloud of the auxiliary voxel is searched for the point closest to the first vertex. The vertex at the position is used as an auxiliary vertex At this time, the line segment With line segment The formed angle is set as the second effective angle .

[0205] Finally, through the first effective angle , Second effective angle Moving distance of laser radar , combined with the above formula (5), we get the second fixed position The distance between the surface of the target wire ; Through the second effective angle and distance , combined with the above formula (6), we get the second fixed position The distance from the center point C of the target wire ; Through the second effective angle and distance , combined with the above formula (7), we get the second fixed position The distance between the center of the target wire ; Through the second effective angle ,distance and the second fixed position Coordinates , combined with the above formula (8), the center coordinate parameters of the target wire are obtained .

[0206] The third step is to calculate the required movement distance and rotation mode of the wire stripper based on the center coordinate parameters of the target wire and the position of the wire stripper blade tip through the computing device. While controlling the movement of the wire stripper, the LiDAR continuously scans the environment to ensure that the point cloud data portion caused by the target wire is close to and in contact with the point cloud data portion caused by the wire stripper blade. This step ensures that the wire stripper can accurately locate the target wire, and further verifies whether the distance between the wire stripper blade tip and the target wire meets the requirements through the distance reading generated by the laser displacement sensor.

[0207] Then, the wire stripper is controlled by the computing device to strip or cut the target wire.

[0208] If the task is to trim the wire, the target wire is adjusted to the trimming position of the wire stripper, and then the wire stripper is controlled to close its blade to complete the trimming operation. Specifically, when performing the trimming task, the wire stripper is controlled to move slowly until the reading of the laser displacement sensor indicates that the target wire is exactly at the trimming position on the wire stripper blade (i.e., the sharp part of the blade). This reading is determined in advance through a calibration process to ensure that the reading corresponds to the position of the wire stripper blade tip. Once the correct trimming position is reached, the trimming operation can be performed.

[0209] If the task is wire stripping, the wire stripper is controlled to adjust to the appropriate stripping position according to the wire diameter or wire radius, and then the wire stripper is controlled to close its blade to remove the insulation layer of the wire. Specifically, when performing a wire stripping task, the diameter of the target wire is first calculated based on the reading of the laser displacement sensor and the point cloud data of the lidar. Then, the wire stripper is slowly moved until the reading of the laser displacement sensor indicates that the target wire is exactly in the most suitable stripping position on the wire stripper blade. This reading is also determined in advance through a calibration process to ensure that the reading corresponds to the position of the wire stripper blade tip. Once the correct stripping position is reached, the stripping operation can be performed.

[0210] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation schematic diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. The optional embodiment is expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0211] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It can also be understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the conventional techniques of engineers. Therefore, those skilled in the art can implement the present application as set forth in the claims using ordinary techniques. It can also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0212] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0213] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can retrieve and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution system, device or apparatus. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution system, device or apparatus.

[0214] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in a suitable manner, and then storing it in a computer memory.

[0215] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0216] In the above description of this specification, the description with reference to the terms "one embodiment / implementation", "another embodiment / implementation" or "certain embodiments / implementations" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0217] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0218] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for operating a wire stripper, characterized in that: The steps include: Scan the environment where the target wire is located to obtain environmental point cloud data; The target wire is detected according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire, including: converting the environmental point cloud data into a voxel set, the voxel set includes a plurality of initial voxels represented by cubes, each of the initial voxels is obtained by dividing the three-dimensional space with a preset resolution; the target wire is detected according to the voxel set to obtain the center coordinate parameters and wire radius parameters of the target wire and enter them into a preset wire list, including: extracting a valid voxel set from the voxel set, the valid voxel set includes a plurality of valid voxels, and the valid voxels are the initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar; according to the valid voxel set, valid vertices are obtained. The effective vertex includes a first vertex and a second vertex; the first vertex is used to represent a reference point of a first fixed position where the target wire and the laser radar are located, and the second vertex is used to determine the distance between the first fixed position and the target wire; according to the first fixed position and the position of the effective vertex, the laser radar is controlled to move to the second fixed position; the laser radar at the second fixed position is used to scan the environment where the target wire is located to obtain auxiliary point cloud data; according to the position of the effective vertex and the auxiliary point cloud data, the auxiliary vertex is obtained in combination with the voxel method; according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position, the center coordinate parameters and the wire radius parameters of the target wire are obtained; According to the center coordinate parameters and the wire radius parameters of the target wire, combined with the reading of the laser displacement sensor arranged on the wire stripper, the wire stripper is controlled to perform wire stripping or wire cutting on the target wire.

2. The method for operating a wire stripper according to claim 1, characterized in that: The scanning of the environment where the target wire is located to obtain environmental point cloud data includes: Scanning the environment where the target wire is located by using a laser radar to obtain initial point cloud data; According to the first fixed position where the laser radar is located, the displacement of the blade of the wire stripper relative to the laser radar is obtained as a relative displacement; According to the relative displacement and the initial point cloud data, the point cloud data of the pliers blade is obtained as the pliers blade point cloud data; The environmental point cloud data is obtained according to the forceps blade point cloud data and the initial point cloud data.

3. The method for operating a wire stripper according to claim 1, characterized in that: The obtaining of valid vertices according to the valid voxel set comprises: Extracting a valid missing voxel set from the valid voxel set; the valid missing voxel set includes a plurality of valid missing voxels, each of which is a valid voxel in the valid voxel set that lacks adjacent voxels in the horizontal direction or the pitch direction; Determine a first voxel and a second voxel according to the set of valid missing voxels; the first voxel is the valid missing voxel whose horizontal position is less than a preset horizontal threshold; the second voxel is the valid missing voxel whose horizontal position is greater than or equal to the horizontal threshold; a surface formed by the first voxel and its adjacent voxels and a surface formed by the second voxel and its adjacent voxels are in the same plane; The first vertex and the second vertex are obtained according to the first voxel and the second voxel.

4. The method for operating a wire stripper according to claim 3, characterized in that: The obtaining the first vertex and the second vertex according to the first voxel and the second voxel includes: In the point cloud of the first voxel, determining a vertex closest to the second voxel as the first vertex; In the point cloud of the second voxel, a vertex closest to the first voxel is determined as the second vertex.

5. The method for operating a wire stripper according to claim 1, characterized in that: The method of obtaining auxiliary vertices according to the positions of the effective vertices and the auxiliary point cloud data in combination with a voxel method comprises: Extracting, from the auxiliary point cloud data, a point cloud whose horizontal position is greater than or equal to the horizontal position of the first vertex as a valid auxiliary point cloud; Performing conversion processing on the effective auxiliary point cloud to obtain an auxiliary voxel set, wherein the auxiliary voxel set includes a plurality of initial auxiliary voxels; Along the direction of the ray pointing from the position of the first vertex to the position of the second vertex, from the auxiliary voxel set, search for the initial auxiliary voxel closest to the position of the first vertex as the auxiliary voxel; From the point cloud of the auxiliary voxels, a vertex closest to the first vertex is searched as the auxiliary vertex.

6. The method for operating a wire stripper according to claim 1, characterized in that: The step of obtaining the center coordinate parameter and the wire radius parameter of the target wire according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position comprises: Obtaining a first effective angle according to the position of the first vertex, the position of the second vertex and the first fixed position; Obtaining a second effective angle according to the position of the first vertex, the position of the auxiliary vertex and the second fixed position; According to the first fixed position, the second fixed position, the first effective angle, and the second effective angle, the center coordinate parameters and the wire radius parameters of the target wire are obtained.

7. The method for operating a wire stripper according to claim 1, characterized in that: The method of controlling the wire stripper to perform wire stripping or wire cutting on the target wire according to the center coordinate parameter and the wire radius parameter of the target wire and the reading of the laser displacement sensor provided on the wire stripper comprises: Determining the moving distance and the rotating mode of the wire stripper according to the center coordinate parameters and the wire radius parameters of the target wire; According to the moving distance and the rotating mode of the wire stripper, combined with the reading of the laser displacement sensor, the wire stripper is controlled to move to the position of the target wire, so that the target wire is located at the wire cutting position or the wire stripping position of the wire stripper; the reading of the laser displacement sensor is the distance between the blade tip of the wire stripper and the target wire; The wire stripper is controlled to strip or cut the target wire.

8. A wire stripper operating device, characterized in that: Includes wire strippers, laser radar, laser displacement sensor and computing equipment, including: The laser displacement sensor is arranged on any one of the handles of the wire stripper, and is used to measure the distance between the blade tip of the handle and the target wire. The laser irradiation line of the laser displacement sensor is parallel to the direction of the blade tip, the horizontal position of the laser irradiation line is greater than the horizontal position of the blade tip, the distance between the laser irradiation line and the blade tip is less than a preset distance threshold, and the measurement range of the laser displacement sensor covers the distance from the handle to the blade tip; The laser radar is located in the environment where the target wire is located, and the laser radar is used to scan the environment where the target wire is located to obtain environmental point cloud data; The computing device is used to detect the target wire according to the environmental point cloud data to obtain the center coordinate parameters and wire radius parameters of the target wire, including: converting the environmental point cloud data into a voxel set, the voxel set including a plurality of initial voxels represented by cubes, each of the initial voxels being obtained by segmenting a three-dimensional space with a preset resolution; detecting the target wire according to the voxel set to obtain the center coordinate parameters and wire radius parameters of the target wire and entering them into a preset wire list, including: extracting a valid voxel set from the voxel set, the valid voxel set including a plurality of valid voxels, the valid voxels being the initial voxels that are not at the boundary of the horizontal angle ray and the pitch angle ray of the laser radar; obtaining a valid voxel set according to the valid voxel set. Vertex, the effective vertex includes a first vertex and a second vertex; the first vertex is used to represent the reference point of the first fixed position where the target wire and the laser radar are located, and the second vertex is used to determine the distance between the first fixed position and the target wire; according to the first fixed position and the position of the effective vertex, the laser radar is controlled to move to the second fixed position; the laser radar at the second fixed position is used to scan the environment where the target wire is located to obtain auxiliary point cloud data; according to the position of the effective vertex and the auxiliary point cloud data, the auxiliary vertex is obtained in combination with the voxel method; according to the position of the effective vertex, the position of the auxiliary vertex, the first fixed position and the second fixed position, the center coordinate parameters and the wire radius parameters of the target wire are obtained; The computing device is also used to control the wire stripper to strip or trim the target wire according to the center coordinate parameters and wire radius parameters of the target wire in combination with the reading of the laser displacement sensor arranged on the wire stripper.

Images